mrpt::hwdrivers::CImageGrabber_dc1394 Class Reference

Detailed Description

A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library.

See the constructor for the options when opening the camera. Notice that you may have to carefully set the resolution, framerate and color_mode. See the verbose parameter of the constructor, which can display a list of supported modes in your camera.

This class is able to manage any Firewire cameras, including Stereo or multi-cameras in general, so this can be used to open the Bumblebee camera (not tested yet).

A static method (CImageGrabber_dc1394::enumerateCameras) is provided to enumerate all existing cameras and their properties. It can be used to find the GUID of the desired camera, then open it at the constructor.

Note

This class requires MRPT compiled with "libdc1394-2" (Only works under Linux for now) and "opencv".

In Linux you may need to execute "chmod 666 /dev/video1394/ * " and "chmod 666 /dev/raw1394" for allowing any user R/W access to firewire cameras.

See Also

The most generic camera grabber in MRPT: mrpt::hwdrivers::CCameraSensor

Definition at line 119 of file CImageGrabber_dc1394.h.

#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>

Classes
struct	TCameraInfo
	Used in enumerateCameras. More...

Public Types
typedef std::list< TCameraInfo >	TCameraInfoList

Public Member Functions
	CImageGrabber_dc1394 (uint64_t cameraGUID=0, uint16_t cameraUnit=0, const TCaptureOptions_dc1394 &options=TCaptureOptions_dc1394(), bool verbose=false)
	Constructor: open an ieee1394 camera.
virtual	~CImageGrabber_dc1394 ()
	Destructor.
bool	isOpen () const
	Check whether the camera has been open successfully.
bool	changeCaptureOptions (const TCaptureOptions_dc1394 &options)
	Changes the capture properties (brightness, gain, shutter, etc) The frame size, framerate, and color_coding fields in options are ignored since they can be only set at construction time.
bool	getObservation (mrpt::slam::CObservationImage &out_observation)
	Grab an image from the opened camera (for monocular cameras).
bool	getObservation (mrpt::slam::CObservationStereoImages &out_observation)
	Grab an image from the opened camera (for stereo cameras).

Static Public Member Functions
static void	enumerateCameras (TCameraInfoList &out_list)
	Generates a list with the information on all the existing (Firewire) cameras in the system.

Protected Attributes
bool	m_bInitialized
	Set to false if we could not initialize the camera.
void *	m_dc1394_lib_context
	Internal use:
void *	m_dc1394camera
int	m_desired_mode
TCaptureOptions_dc1394	m_options

Member Typedef Documentation

typedef std::list<TCameraInfo> mrpt::hwdrivers::CImageGrabber_dc1394::TCameraInfoList

Definition at line 209 of file CImageGrabber_dc1394.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CImageGrabber_dc1394::CImageGrabber_dc1394	(	uint64_t	cameraGUID = 0,
		uint16_t	cameraUnit = 0,
		const TCaptureOptions_dc1394 &	options = TCaptureOptions_dc1394(),
		bool	verbose = false
	)

Constructor: open an ieee1394 camera.

Parameters

cameraGUID	Set the camera GUID to open, or 0 to open the first found camera.
cameraUnit	(Ignored if cameraGUID=0). The number of camera to open within the device with the given GUID: In a stereo camera this may be 0 or 1. Normally this is 0.
options	Capture options, defined in mrpt::hwdrivers::TCaptureOptions_dc1394.
verbose	Displays a lot of information about the camera to be open and its valid video modes.

virtual mrpt::hwdrivers::CImageGrabber_dc1394::~CImageGrabber_dc1394 ( )

virtual

Destructor.

Member Function Documentation

bool mrpt::hwdrivers::CImageGrabber_dc1394::changeCaptureOptions

(

const TCaptureOptions_dc1394 &

options

)

Changes the capture properties (brightness, gain, shutter, etc) The frame size, framerate, and color_coding fields in options are ignored since they can be only set at construction time.

Returns

false on error

static void mrpt::hwdrivers::CImageGrabber_dc1394::enumerateCameras ( TCameraInfoList &  out_list )

static

Generates a list with the information on all the existing (Firewire) cameras in the system.

Exceptions

std::runtime_error

On any error calling libdc1394.

bool mrpt::hwdrivers::CImageGrabber_dc1394::getObservation

(

mrpt::slam::CObservationImage &

out_observation

)

Grab an image from the opened camera (for monocular cameras).

Parameters

out_observation

The object to be filled with sensed data.

Returns

false on any error, true if all go fine.

bool mrpt::hwdrivers::CImageGrabber_dc1394::getObservation

(

mrpt::slam::CObservationStereoImages &

out_observation

)

Grab an image from the opened camera (for stereo cameras).

Parameters

out_observation

The object to be filled with sensed data.

Returns

false on any error, true if all go fine.

bool mrpt::hwdrivers::CImageGrabber_dc1394::isOpen ( ) const

inline

Check whether the camera has been open successfully.

Definition at line 153 of file CImageGrabber_dc1394.h.

Member Data Documentation

bool mrpt::hwdrivers::CImageGrabber_dc1394::m_bInitialized

protected

Set to false if we could not initialize the camera.

Definition at line 124 of file CImageGrabber_dc1394.h.

void* mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394_lib_context

protected

Internal use:

Definition at line 127 of file CImageGrabber_dc1394.h.

void* mrpt::hwdrivers::CImageGrabber_dc1394::m_dc1394camera

protected

Definition at line 128 of file CImageGrabber_dc1394.h.

int mrpt::hwdrivers::CImageGrabber_dc1394::m_desired_mode

protected

Definition at line 129 of file CImageGrabber_dc1394.h.

TCaptureOptions_dc1394 mrpt::hwdrivers::CImageGrabber_dc1394::m_options

protected

Definition at line 132 of file CImageGrabber_dc1394.h.